def start():
sock = communication.init_receiver('', c.PORT)
message = ''
message, addr = communication.receive_message(sock)
status = "In comm_bot_test"
print status
communication.send_broadcast_message(5003, status)
return message
def start():
sock = communication.init_receiver('', c.PORT)
message = ''
message, addr = communication.receive_message(sock)
status = "In comm_bot_test"
print status
communication.send_broadcast_message(5003, status)
return message
def send_new_status(msg, repetitions, space):
for x in range(repetitions):
com.send_broadcast_message(c.PORT, msg)
time.sleep(space)
# print state_list
irCentre = pi2go.irCentre()
if irCentre or distance < MIN_DIST:
state_list[OWN_ID] = OBSTACLE
# print "After setting it: own state: " + str(state_list[OWN_ID])
# print "irCentre: " + str(irCentre)
else:
state_list[OWN_ID] = CLEAR
# print "P : ", prev_state_list[OWN_ID]
# print "C : ", state_list[OWN_ID]
if prev_state_list[OWN_ID] != state_list[OWN_ID]:
print "Sending state : ", str(state_list[OWN_ID])
for x in range(10):
communication.send_broadcast_message(PORT, str(state_list[OWN_ID]))
if distance < SLOW_DIST:
slow = True
else:
slow = False
# print "BEFORE RECEIVING: " + str(state_list)
# RECEIVE
message_list = communication.receive_message_list(sock)
update_state_list()
# #### SEND
# print " AFTER RECEIVING: " + str(state_list)
# #### SET SUB_STATE
state = STATE_RUN state_string = "RUN" if state != prev_state: print state_string if state == STATE_RUN: pi2go.setAllLEDs(LEDoff,LEDon,LEDoff) elif state == STATE_WARN: pi2go.setAllLEDs(LEDon,LEDon,LEDoff) elif state == STATE_STOP: pi2go.setAllLEDs(LEDon,LEDoff, LEDoff) else: print "unknown state!" #print time.time() #message = "State: " + state + " at " + str(time.time()) print "Starting broadcast" for x in range(0,10): message = " State: " + state_string + " at " + str(time.time()) + " #" + str(x) communication.send_broadcast_message(38234, message) #print time.time() print "Broadcast finished" prev_state = state except KeyboardInterrupt: pass finally: pi2go.cleanup()
bot_type.append(c.VALUE_TYPE_AUTO)
print bcolors.UNDERLINE + "Either type command in form IDcommandvalue or one after the other. To repeat the last command, simply press 'r' and enter'\n" + bcolors.ENDC
while True:
print "_" * 100
identifier = raw_input(
('ID ([' + str(c.TEAM_START - 100) + ':' + str(c.TEAM_SIZE) +
'] or (al)l | (co)m_bots | (au)to or whole command: \t\t\t'))
if identifier == 'r':
if message == '':
print bcolors.FAIL + 'No message sent so far!' + bcolors.ENDC
else:
# everything should be valid...
# to all...
if last_receiver == 'all':
com.send_broadcast_message(c.PORT, message)
# to all communicating bots
elif last_receiver == 'com_bots':
for target_id in range(len(bot_type)):
# print str(target_id) + " " + str(bot_type[target_id])
if bot_type[target_id] == c.VALUE_TYPE_COM:
target_ip = c.SUBNET_IP + str(c.TEAM_START + target_id)
# print "actually sending sth.! to " + target_ip
com.send_udp_unicast_message(target_ip, c.PORT,
message)
# to all autonomous bots
elif last_receiver == 'auto_bots':
for target_id in range(len(bot_type)):
if bot_type[target_id] == c.VALUE_TYPE_AUTO:
# print state_list
irCentre = pi2go.irCentre()
if irCentre or distance < MIN_DIST:
state_list[OWN_ID] = OBSTACLE
# print "After setting it: own state: " + str(state_list[OWN_ID])
# print "irCentre: " + str(irCentre)
else:
state_list[OWN_ID] = CLEAR
# print "P : ", prev_state_list[OWN_ID]
# print "C : ", state_list[OWN_ID]
if prev_state_list[OWN_ID] != state_list[OWN_ID]:
print "Sending state : ", str(state_list[OWN_ID])
for x in range(10):
communication.send_broadcast_message(
PORT, str(state_list[OWN_ID]))
if distance < SLOW_DIST:
slow = True
else:
slow = False
# print "BEFORE RECEIVING: " + str(state_list)
# RECEIVE
message_list = communication.receive_message_list(sock)
update_state_list()
# #### SEND
# print " AFTER RECEIVING: " + str(state_list)
# #### SET SUB_STATE
for identifier in range(c.TEAM_START+c.COM_TEAM_SIZE, c.TEAM_END):
bot_type.append(c.VALUE_TYPE_AUTO)
print bcolors.UNDERLINE + "Either type command in form IDcommandvalue or one after the other. To repeat the last command, simply press 'r' and enter'\n" + bcolors.ENDC
while True:
print "_" * 100
identifier = raw_input(('ID (['+str(c.TEAM_START-100)+':'+str(c.TEAM_SIZE) + '] or (al)l | (co)m_bots | (au)to or whole command: \t\t\t'))
if identifier == 'r':
if message == '':
print bcolors.FAIL + 'No message sent so far!' + bcolors.ENDC
else:
# everything should be valid...
# to all...
if last_receiver == 'all':
com.send_broadcast_message(c.PORT, message)
# to all communicating bots
elif last_receiver == 'com_bots':
for target_id in range(len(bot_type)):
# print str(target_id) + " " + str(bot_type[target_id])
if bot_type[target_id] == c.VALUE_TYPE_COM:
target_ip = c.SUBNET_IP + str(c.TEAM_START + target_id)
# print "actually sending sth.! to " + target_ip
com.send_udp_unicast_message(target_ip, c.PORT, message)
# to all autonomous bots
elif last_receiver == 'auto_bots':
for target_id in range(len(bot_type)):
if bot_type[target_id] == c.VALUE_TYPE_AUTO:
target_ip = c.SUBNET_IP + str(c.TEAM_START + target_id)
elif mode == 'STOP':
SPEED = SPEED_STOP
# Speedlimits
if SPEED > 100:
SPEED = 100
elif SPEED < 0:
SPEED = 0
pi2go.go(SPEED, SPEED)
# Send
if mode != prev_mode:
if prev_mode == 'STOP':
#print 'RELEASE'
message = 'RELEASE'
for x in range(SENDING_ATTEMPTS):
communication.send_broadcast_message(PORT, message)
time.sleep(WAIT_SEND)
elif mode == 'STOP':
#print 'PROBLEM'
message = 'PROBLEM'
for x in range(PUSH):
communication.send_broadcast_message(PORT, message)
time.sleep(WAIT_SEND)
else:
print 'impossible STATE'
STATE == 'RUNNING'
except KeyboardInterrupt:
print 'KEYBOARD'
elif mode == "STOP":
SPEED = SPEED_STOP
# Speedlimits
if SPEED > 100:
SPEED = 100
elif SPEED < 0:
SPEED = 0
pi2go.go(SPEED, SPEED)
# Send
if mode != prev_mode:
if prev_mode == "STOP":
# print 'RELEASE'
message = "RELEASE"
for x in range(SENDING_ATTEMPTS):
communication.send_broadcast_message(PORT, message)
time.sleep(WAIT_SEND)
elif mode == "STOP":
# print 'PROBLEM'
message = "PROBLEM"
for x in range(PUSH):
communication.send_broadcast_message(PORT, message)
time.sleep(WAIT_SEND)
else:
print "impossible STATE"
STATE == "RUNNING"
except KeyboardInterrupt:
print "KEYBOARD"
state = STATE_WARN
state_string = "WARN"
else:
state = STATE_RUN
state_string = "RUN"
if state != prev_state:
print state_string
if state == STATE_RUN:
pi2go.setAllLEDs(LEDoff, LEDon, LEDoff)
elif state == STATE_WARN:
pi2go.setAllLEDs(LEDon, LEDon, LEDoff)
elif state == STATE_STOP:
pi2go.setAllLEDs(LEDon, LEDoff, LEDoff)
else:
print "unknown state!"
#print time.time()
#message = "State: " + state + " at " + str(time.time())
print "Starting broadcast"
for x in range(0, 10):
message = " State: " + state_string + " at " + str(
time.time()) + " #" + str(x)
communication.send_broadcast_message(38234, message)
#print time.time()
print "Broadcast finished"
prev_state = state
except KeyboardInterrupt:
pass
finally:
pi2go.cleanup()
def send_new_status(msg,repetitions,space):
for x in range(repetitions):
com.send_broadcast_message(c.PORT, msg)
time.sleep(space)
